A new nonlinear real-time filter based on Free Energy
| cic.isFulltext | SI | |
| cic.isPeerReviewed | SI | |
| cic.lugarDesarrollo | Universidad Tecnológica Nacional | |
| cic.parentType | Artículo | |
| cic.version | Publicada | |
| dc.date.accessioned | 2026-03-02T17:36:43Z | |
| dc.date.available | 2026-03-02T17:36:43Z | |
| dc.identifier.uri | https://digital.cic.gba.gob.ar/handle/11746/12656 | |
| dc.title | A new nonlinear real-time filter based on Free Energy | en |
| dc.type | Artículo | |
| dcterms.abstract | This study introduces a novel non-linear real-time filter based on the concept of Free Energy, applied to estimate the state of mobile robots in dynamic environments. Leveraging Bayesian inference principles, the proposed Free Energy Filter minimizes prediction errors between observed and estimated trajectories, incorporating the Fokker-Planck equation. Simulation results demonstrate effectiveness in improving control accuracy of unicycle robots equipped with the Bessel controller, with comparisons against traditional Kalman filtering highlighting advantages in noisy and uncertain conditions. | en |
| dcterms.creator.author | Roteta Lannes, Juan Andrés | |
| dcterms.creator.author | Garcia, Andres Gabriel | |
| dcterms.creator.author | Agamennoni, Osvaldo Enrique | |
| dcterms.extent | 459-470 | |
| dcterms.identifier.other | DOI: 10.37394/23203.2025.20.46 | |
| dcterms.identifier.other | ISSN: 2224-2856 | |
| dcterms.identifier.url | https://doi.org/10.37394/23203.2025.20.46 | |
| dcterms.isPartOf.issue | Vol. 20, 2025, Art. 46, p. 459 | |
| dcterms.isPartOf.series | WSEAS Transactions on Systems and Control | |
| dcterms.issued | 2025-11-14 | |
| dcterms.language | Inglés | |
| dcterms.license | Attribution-NonCommercial-NoDerivatives 4.0 International (BY-NC-ND 4.0) | |
| dcterms.relation | vol. 20 | |
| dcterms.subject | Free Energy | en |
| dcterms.subject | Fokker-Planck | en |
| dcterms.subject | Stochastic | en |
| dcterms.subject | Kalman Filter | en |
| dcterms.subject | Nonlinear filter | en |
| dcterms.subject | Mobile robots | en |
| dcterms.subject.materia | Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información |
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